Nachi EZ-CFDL Series, Инструкция по эксплуатации

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3.4Encoder reset and encoder correction
3
The "Position Record" method is described here.
Press f8 <Record Position>.
>>The screen now changes.
4
After confirming that the axis is mechanically aligned to the reference position, align the
cursor with the axis whose encoder is to be corrected, and press [Enter] followed by
[REC].
If the robot axes are not equipped with a brake, press [Enter] and [REC] while keeping
the servo power ON ([ENABLE SWITCH]). (If all the axes of the robot are equipped with
a brake, this operation may be performed with the servo power OFF.)
* Encoder correction cannot be implemented for all the axes together so repeat these
operations for each axis in turn.
5
At this stage, the encoder correction values are still not saved in the memory.
To save them, first turn the motor power OFF (by pressing [EMERGENCY STOP
BUTTON]).
Then press f12 <Complete>.
INFO.
If "Reference position check program". is not recorded in memory, it is recommended to
record this "Reference pose" (a pose in which the all axes are aligned to the reference
positions) to program 9999 as a "Reference position check program". This program is
convenient to check if the all axes of the robot are correctly set to the reference position
respectively.
WARNING
This work includes some jobs that should be conducted with the motors ON.
Consequently, be sure to conduct the work at least by a pair of two persons. One person
must stay on guard to press an Emergency Stop button at any time, while the other
person must promptly finish the work with thorough attention paid to the robot operating
area. Furthermore, prior to starting the work, check for escape route. If this procedure is
omitted, operator may be caught or pinched by the robot parts, possibly resulting in death
or serious injury.
CAUTION
As for the robot using “Zeroing pin and block”, check to be sure that the zeroing pin has
been removed and then operate the robot. Note that operating the robot with the zeroing
pin inserted may bend the pin or deform the hole for this pin, thus disabling proper
positioning of the zeroing pin.